Added an example of CAN communication for the TMS570LS31x HDK

[arc.git] / arch / arm / arm_cr4 / drivers / Can.c

diff --git a/arch/arm/arm_cr4/drivers/Can.c b/arch/arm/arm_cr4/drivers/Can.c
index 5cf7cf5a39eb288143c5053818747f003c789cad..3f17ac90be9aefc49e5a4a7490308361774704d3 100644 (file)
--- a/arch/arm/arm_cr4/drivers/Can.c
+++ b/arch/arm/arm_cr4/drivers/Can.c
@@ -41,6 +41,8 @@
 #define Dem_ReportErrorStatus(...)\r
 #endif\r
 \r
+static sint8 IfRegId = 0;\r
+\r
 /* Macro for waiting until busy flag is 0 */\r
 #define DCAN_WAIT_UNTIL_NOT_BUSY(ControllerId, IfRegId) \\r
     { \\r
@@ -104,7 +106,6 @@ static Can_StateType            ModuleState = CAN_UNINIT;
 static CanIf_ControllerModeType ControllerMode[CAN_ARC_CTRL_CONFIG_CNT];\r
 \r
 /* Used to switch between IF1 and IF2 of DCAN */\r
-static uint8 IfRegId = 0;\r
 \r
 /* Used to order Data Bytes according to hardware registers in DCAN */\r
 static const uint8 ElementIndex[] = {3, 2, 1, 0, 7, 6, 5, 4};\r
@@ -376,6 +377,7 @@ void Can_Init(const Can_ConfigType *Config)
     uint8                     MsgNr;\r
     uint32                    ErrCounter;\r
     uint32                    Eob;\r
+    imask_t state;\r
 \r
 /* DET Error Check */\r
 #if(CAN_DEV_ERROR_DETECT == STD_ON)\r
@@ -391,7 +393,7 @@ void Can_Init(const Can_ConfigType *Config)
     }\r
 #endif \r
 \r
-    imask_t i_state = McuE_EnterCriticalSection();\r
+    Irq_Save(state);\r
 \r
     // TODO This should be used instead of other variables in the Can_Lcfg file.\r
     CurConfig        = Config;\r
@@ -537,16 +539,24 @@ void Can_Init(const Can_ConfigType *Config)
     ModuleState = CAN_READY;\r
 #endif\r
 \r
-    McuE_ExitCriticalSection(i_state);\r
+    Irq_Restore(state);\r
 \r
 }\r
 \r
+// Unitialize the module\r
+void Can_DeInit()\r
+{\r
+\r
+  return;\r
+}\r
+\r
 \r
 \r
 void Can_InitController(uint8 Controller, const Can_ControllerConfigType* Config)\r
 {\r
     uint8   MsgNr;\r
     uint32  ErrCounter;\r
+    imask_t state;\r
 \r
 #if(CAN_DEV_ERROR_DETECT == STD_ON)\r
     if(Config == NULL)\r
@@ -571,7 +581,7 @@ void Can_InitController(uint8 Controller, const Can_ControllerConfigType* Config
     }\r
 #endif \r
 \r
-    imask_t i_state = McuE_EnterCriticalSection();\r
+    Irq_Save(state);\r
 \r
     ErrCounter = CAN_TIMEOUT_DURATION;\r
     \r
@@ -616,7 +626,7 @@ void Can_InitController(uint8 Controller, const Can_ControllerConfigType* Config
     /* Clear CCE Bit */\r
     CanRegs[Controller]->CTL &= ~0x00000040;\r
 \r
-    McuE_ExitCriticalSection(i_state);\r
+    Irq_Restore(state);\r
 }\r
 \r
 \r
@@ -794,6 +804,7 @@ Can_ReturnType Can_Write(Can_Arc_HTHType Hth, Can_PduType *PduInfo)
     Can_PduType           *CurPduArrayPtr;\r
     uint8                 *CurCancelRqstPtr;\r
     uint8                 *CurTxRqstPtr;\r
+    imask_t state;\r
 \r
     CurSduPtr       = PduInfo->sdu;\r
     \r
@@ -866,7 +877,7 @@ Can_ReturnType Can_Write(Can_Arc_HTHType Hth, Can_PduType *PduInfo)
     DCAN_WAIT_UNTIL_NOT_BUSY(ControllerId, IfRegId);\r
 \r
     // We cannot allow an interrupt or other task to play with the COM, MC and ARB registers here.\r
-    imask_t i_state = McuE_EnterCriticalSection();\r
+    Irq_Save(state);\r
 \r
 \r
     /* Set NewDat, TxIE (dep on ControllerConfig), TxRqst, EoB and DLC */\r
@@ -875,10 +886,10 @@ Can_ReturnType Can_Write(Can_Arc_HTHType Hth, Can_PduType *PduInfo)
                                                                                        | (0x000F & PduInfo->length) // Set DLC\r
                                                                                        | (CanControllerConfigData[ControllerId].CanTxProcessing << 1); // Tx confirmation interrupt enabled\r
 \r
-\r
     /* Set ArbitrationRegister */\r
     CanRegs[ControllerId]->IFx[IfRegId].ARB = ArbRegValue;\r
 \r
+\r
     /* Set Databytes */\r
     for(DataByteIndex = 0; DataByteIndex < PduInfo->length; DataByteIndex++)\r
     {\r
@@ -895,7 +906,7 @@ Can_ReturnType Can_Write(Can_Arc_HTHType Hth, Can_PduType *PduInfo)
     \r
     IfRegId ^= 1;\r
        \r
-    McuE_ExitCriticalSection(i_state);\r
+    Irq_Restore(state);\r
     return CAN_OK;\r
 }\r
 \r